Abstract: This paper presents a robust adaptive fuzzy trajectory linearization control (RAFTLC) based on the small gain theorem for a class of nonlinear multi-input multi-output(MIMO) uncertain systems. The unknown disturbances and uncertainties are approximated by a T-S fuzzy system, and the boundedness of all signals of the composite closed-loop system is guaranteed by Lyapunov method and the small gain theorem. This algorithm has only one adaptive parameter adjusting on line and is convenient to realize in engineering. Finally, a flight control system of an ASV is designed based on the proposed method. Simulation results demonstrate the effectiveness and robustness of the control scheme.

Key words: trajectory linearization control, robust adaptive control, T-S fuzzy systems, small gain theorem, aerospace vehicle